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The paper proposes an algorithm for stabilizing a teleoperation system with QSR-dissipative subsystems and time-varying delays in the communication channel. First of all, this approach is based on the generalized scattering transformation that is applied to the local and remote teleoperator subsystems. Secondly, looking back at the theory of passive teleoperation, the proposed method uses the idea of time-varying gains that multiplies by the transferred signals at the both sides of the communication channel. Combination of these two elements provides stability of teleoperator system with QSR-dissipative subsystems and time-varying delays in the communication channel.

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Scattering-Based Stabilization Technique for QSR-Dissipative Teleoperators with Time-Varying Communication Delays

  • 会议论文

  • 发表日期：

    2025年

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  • Anastasiia A. Usova

摘要

The paper proposes an algorithm for stabilizing a teleoperation system with QSR-dissipative subsystems and time-varying delays in the communication channel. First of all, this approach is based on the generalized scattering transformation that is applied to the local and remote teleoperator subsystems. Secondly, looking back at the theory of passive teleoperation, the proposed method uses the idea of time-varying gains that multiplies by the transferred signals at the both sides of the communication channel. Combination of these two elements provides stability of teleoperator system with QSR-dissipative subsystems and time-varying delays in the communication channel.